It depends, with certain people such as new acquaintances; silence can indicate a lack of common interests and be described as an awkward silence. That kind of silence makes me quite uncomfortable.
Where as with close friends and family, silence can be awkward but it can also be people embracing and enjoying the moment. Taking everything in and pausing to appreciate it. This kind of silence is quite comforting, it's like being lost within that moment for a brief time before returning back to reality.